CN110450775A - Unmanned driving equipment and method - Google Patents
Unmanned driving equipment and method Download PDFInfo
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- CN110450775A CN110450775A CN201910833745.9A CN201910833745A CN110450775A CN 110450775 A CN110450775 A CN 110450775A CN 201910833745 A CN201910833745 A CN 201910833745A CN 110450775 A CN110450775 A CN 110450775A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The unmanned equipment and the method realize tangible tracing navigation of an unmanned vehicle through a ground two-dimensional code navigation electronic path map mode. The ground two-dimensional code path information is that the unmanned control system edits intangible electronic path map information into a two-dimensional code, and the two-dimensional code is printed on the road surface of an actual path at a certain interval and is read by a camera or a code scanner of an unmanned vehicle.
Description
Technical field
This patent is related to a kind of unmanned device and method, solves unmanned mode and believes for automatic driving vehicle
Number control problem.In order to achieve the above object, technical solution of the present invention has provided the mould of unique ground two-dimensional code navigation
Formula, the unpiloted implementation pattern of whole new definition.Unmanned ground is regarded as to be ground tracking movement, and tracks
Path is different from common path, has many special information for the fortune that tracks in the path ground two-dimensional code that automatic driving vehicle tracks
Control in advance is read in dynamic to prepare, and solves the problems, such as a series of navigational challenges and traffic signalization as under the premise of.
Relative to invisible electron path electronic map, the unmanned initiative to data analysis, is the use of initiative
Dynamic shoots with video-corder the data transferred and goes to compare the related data of static electronic path map, rather than the blind men size up the elephant formula is blind
Mesh passively receives data.Analytic operation is not done to unwanted invalid data simultaneously, unmanned needs are not accurately
Scheme this large amount of invalid datas, but this valid data of high-precision electronic path map, therefore greatly reduce control system
Burden.Completely new unmanned technology mode and electronic path map internet new concept are createed.Nobody drives for this
Sailing vehicle, perhaps cargo transport vehicle is also applied for extraordinary such as sweep the floor vehicle or delivery logistic car suitable for common transport carrying
Or indoor transporting vehicle or food delivery vehicle etc..
Background technique
At present pilotless automobile be nearly all using ground on-vehicle sensor, according to global positioning satellite sensor and
Unmanned function is realized in the navigation of millimetre-wave radar and laser range sensor etc..But the sensor of ground on-vehicle by
Height limitation is more limited in terms of measurement by the interference data inaccuracy of several factors, while at aspect of overtaking other vehicles.
And the data that global positioning satellite sensing data is face are not path datas, and global positioning satellite is used alone and passes
Sensor data have error, and this patent feature is to position more accurately, and data volume is greatly reduced, and electron path map practicability is obtained
It improves.To realize it is conditional do not need GPS, direct dynamically making by oneself with the different segmenting electronic map path in ground
The unmanned mode for navigation that the practical two dimensional code icon path on justice combination and ground is read and calling realizing route tracks.
Summary of the invention
The specific embodiment of patent content:
By automatic driving vehicle, it is formed substantially includes:
Invisible electron path two-dimensional barcode information map datum, the tangible chain type path ground being composed in series by ground two-dimensional code
Icon, vehicle-mounted distance measuring sensor module, vehicle electronics azimuth sensor module, onboard camera, two dimensional code read image and calculate
The electron path map datum of method analysis system, vehicular speeds sensor and control system storage and management.
Automatic driving vehicle electron path map is invisible steering map, it and tangible road surface two dimensional code icon are formed
One-to-one mutual confirmation relationship realizes that the automatic driving vehicle ground two-dimensional code that tracks in tangible actual motion is sought with this
Mark movement, synchronizes the working map for the combination that tracks in invisible electron path map；This working map is arrived according to starting point
Between terminal, the instant work that is automatically generated by control system according to the adjacent electron path of the multiple segmentations both deposited in database
The combinatorial path of customized electron path map；Guided with the work in combination map of invisible multistage electron path map
Automatic driving vehicle reads tangible ground two-dimensional code road sign, realizes the tracking movement of the multi-sectional ground two dimensional code road sign across path
It is automatic unmanned；May include wherein tangible steering map is tracked to ground two dimensional code path automatic driving vehicle,
Other than the function that tracks there are also read ground two-dimensional code path on road segments number information, speed limiting information, parking and
Enabling signal lamp sensor information etc., control system is according to instruction from existing invisible electron path two-dimensional barcode information map number
According to or internet on download, transfer the customized instant practical electron path map new with automatic Mosaic, with wherein each
The electronic two-dimensional code path of segmentation is combined into electron path two dimensional code real-time working map.
To realize it is conditional do not need GPS, it is directly dynamic with invisible different segmenting electronic map paths
Living overstates that the reading between electron path self-defined combination map and the dead static practical two dimensional code icon path on ground is true
Recognize and calls, the unmanned mode of navigation so that realizing route tracks.
Tangible steering map refers to the chain type path surface map combined by the two-dimensional barcode information arranged in series of ground spraying
Mark forms tangible path, and other than the guidance path that can be used directly to track, ground two-dimensional code information also includes:
Speed limit, ramp to stop buffer distance, limitation overtake other vehicles, deceleration, acceleration, the direction of motion, delay distance parking position and binding signal
The turning of lamp image recognition sensor limits and STOP signal enabling image recognition checks in front of crossroad and left and right crossing
The content informations such as vehicle pass-through can be instant action information and be also possible to delay voltage information, can be and transport relative to ground
Vertically unbiased angle information is also possible to can be and vertically has specific drift angle number relative to ground motion instruction direction in dynamic instruction direction
The information of value can be read by code reader or visual sensor.Ground two-dimensional code routing information is exactly unmanned control system
Invisible electron path cartographic information editor is become two dimensional code by system, according to the printing of a fixed spacing on Actual path road surface,
It is read for automatic driving vehicle camera or code reader.
People can be used when defining the pilotless automobile path 2 D code map in modeling section of pilotless automobile
The mode that work drives, road sign printer are in automatically serial print road according to the spacing of default in the middle position in corresponding lane
Mark two dimensional code.
Road sign quick response code printer automatically corresponding lane middle position according to default spacing in it is serial one by one
Road sign two dimensional code is printed, may include the unidirectional or two-way speed limiting information of minimum speed and maximum speed, two dimensional code printing
Coating can be infra-red paint, can be with the two dimensional code of direct spraying infra-red paint, can also be in the infra-red paint of spraying
Upper spraying absorbs or blocks the material for hindering infrared ray, sprays two on ground of the infra-red paint as background using this material
Code information is tieed up, it is convenient because the reflection differences comparison of infra-red paint is obvious, it can be infrared camera, be also possible to infrared
Infrared ray path two dimensional code mark information can be accurately identified easily for line two dimensional code barcode scanning gun.
Crossing processing to there is signal lamp:
According to the electronic bearing angle marked on the path two dimensional code of crossing parking position and range information, on automatic driving vehicle
Visual sensor according to the image document instant messages at certain electronic bearing angle and range data sampling analysis signal lamp, refer to
Show that automatic driving vehicle parking waiting still passes through.
The crossing processing of single STOP mark and two opposite STOP mark crossings processing to the crossing of not signal lamp and
There is no the STOP mark crossing processing of signal lamp to crossroad four direction:
According to the electronic bearing angle marked on the path two dimensional code of crossing parking position and range information, on automatic driving vehicle
Visual sensor or millimetre-wave radar other than normal road monitoring, to pilot steering notably situation single or
The vehicle driving of the STOP mark at the crossing of the multiple not signal lamps of person and electronic bearing angle and the distance parameter model of parking position
Image data or range data or the dwell time of moving object in enclosing do implementing monitoring and comparison, calculate and need to compare
Pair pilotless automobile stop here the precedence in waiting and the sequence in turn that passes through of starting, with this according to manually driving
The operating method for sailing should be noted situation implements similarly the same automatic manipulation；This visual sensor or millimetre-wave radar
Sensor includes the sensor that can be this special specifically configured specific use on automatic driving vehicle.
The processing by weighing in advance to the crossing the STOP processing mark of not signal lamp: from the down time of the point of arrival
It calculates, specific electron azimuth under the conditions of this time and latter apart from the presence or absence of lower detected target and the movement of detected target
The fixed waiting time starts later sets out through this section, comprising can under the conditions of this time specific electron azimuth and away from
Visual analysis is done from wink signal of lower detected target when mobile, control system is according to the judgement of the relative position of automatic flash
Turn left or straight trip is still turned right, the waiting time is automatically adjusted with this.
Parking lot automatic parking mode: the positional relationship on the public lane in parking lot and parking stall is like being adjacent one
If a branch and dried leaf thereon, each parking stall is like being the adjacent leaf of the upper sequence of limb.The utility car in parking lot
It is provided with two dimensional code on the road surface in road, at each from the public lane in parking lot to the crossover location of each parking stall bifurcated
It may include special parking stall electronic bearing angle and parking stall length and width on two dimensional code on the road surface in the public lane in parking lot
Dimension information, when automatic driving vehicle, which is opened, finds parking stall automatic parking mode, first to electronic two-dimensional code path map
Range selection is done, it includes on map path or electronic two-dimensional code path map that this range, which can be in areal extent,
Zone routing selections.
Driving to this under this unmanned mode, on the electronic two-dimensional code path of vehicle in a certain range, each stops
Two dimensional code on the road surface in the public lane in the parking lot of the crossover location to some parking stall bifurcated in the public lane in parking lot
When upper, automatic driving vehicle vehicle-mounted road surface two dimensional code sensor reads the information of two dimensional code on this position ground two dimensional code path,
The two-dimensional barcode information may include the range information under electronic bearing angle information or parking vehicle existence condition, automatic driving car
Vehicle-mounted visual sensor or range sensor according to the information scanning at the parking stall electronic bearing angle of the two dimensional code of reading this
Electronic bearing angle is whether there is or not vehicles to exist, and if there is vehicle presence and its range data is within the scope of two dimensional code range information, then
System determines that the parking stall is in use, and then automatic driving vehicle continuation is provided with along the road surface in the public lane in parking lot
Two dimensional code path is advanced, until next parking stall crosspoint repeats above-mentioned parking stall testing process, until detecting no vehicle
The effective vacant parking stall berthed.
The visual sensor of automatic driving vehicle is by the rectangular image comparing control system in the line of demarcation on the parking stall
Vehicle parking is being made this vehicle square by this vehicle rectangular dimension information of storage, unmanned operating system control vehicle automatic running
Shape is placed exactly among the rectangular image in the line of demarcation on the parking stall symmetrical position all around.
It is exactly to start unmanned mode when pick-up, vehicle is automatically from the single parking stall where the parking stall to its
Disengaging lane operation, reach on the public lane in parking lot read parking lot public lane on electron path two dimensional code letter
Breath, then using this information comparison as the starting point of unmanned traffic route.The so-called rider that plugs into, which gets on the bus, just refers to that nobody drives
Vehicle is sailed from parking position by the disengaging lane on single parking stall and the public lane in parking lot and other adjacent one
Or a plurality of two dimensional code path, reach some location point on the two dimensional code path that pick-up people sets to unmanned operating system
The process of parking.
In addition to road two dimensional code may include speed-limiting messages, automatic driving vehicle can also configure vehicle humidity sensor,
Detection under conditions of air humidity reaches certain value, or immediately the automatic driving vehicle network information by rainy weather system from
Trend transmits speed-limiting messages in the pilotless automobile in corresponding region in the rainy day, and pilotless automobile is downloaded the temporary information and done
Speed limit traveling.Unmanned speed limit condition downward driving, if the speed of setting is lower than certain setting speed value, control system
It can start automatically and play bright low speed lamp.
The two-dimensional barcode information of automatic driving vehicle can also be according to condition of road surface condition setting delays time to control information, feature
It is for the static delays time to control information for setting lead on the two dimensional code routing information of intersection or corner
Instant pretreatment is done for unmanned control operating system, or is directed in the dynamic planning of operating path immediately, it is unmanned
Operation control system pre-processes the buffering in advance of lane change operation, to avoid unexpected lane change.It can not be simultaneously work
Path map some point execute lane change, but some section of path map execute lane change, if the section because
Vehicle hinders lane change, while unmanned operating system control vehicle deceleration cannot still execute lane change more than minimum speed,
Then unmanned operation control system abandons the lane change plan of this tract section, transfers in system or downloading data library immediately
Cartographic information, the group occlusal reconstruction path planning map new with execution.
The road sign pattern-information that tracks of priority is provided with for road management service personnel, the road sign pattern letter that tracks
Visual two dimensional code serial path of the breath comprising can be the infrared ray or non-infrared ray that read for vehicle-mounted two dimensional code camera
Information is also possible to the information that the extraordinary pattern of non-two dimensional code supplies vehicle-mounted visual sensor to read.
Because being special interim section control, it is possible to be to execute the tract section low-speed mode automatically, have herein excellent
The road sign pattern-information that tracks first weighed starts the transverse direction that vehicle-mounted two dimensional code camera executes direction of vehicle movement after disappearing automatically
Scanning will shoot with video-corder the original map path information of collected two-dimensional barcode information comparison and be compared, hold automatically after comparing successfully
Pilotless automobile route planning of the row path map position on direction thereafter.
The mode also includes that can be the road sign pattern-information that tracks that this priority is covered on original two dimensional code section, is swashed
Pilotless automobile living enters this special contingency mode, in this mode vehicle can be detected by the visual sensor in front it is excellent
The road sign pattern-information that tracks first weighed, then pilotless automobile keeps the distance of system setting to follow this signal according to low speed
It moves and moves, or the road sign pattern-information that tracks for this priority that tracks does tracking movement, opens automatically after the blackout
The two dimensional code camera that motor-car carries executes the transversal scanning of direction of vehicle movement, will shoot with video-corder collected two-dimensional barcode information and compare original
Some map path information is matched, and executes the unmanned vapour of the map location on direction thereafter after successful matching automatically
Vehicle route planning.
Losing the necessary flag information of area navigation or sound transducer receives the alarm of fire alarm ambulance or police car report
It is alert etc. it is preset stop in emergency sample sound successful match and when volume decibels are more than default starting standard, starting is promptly kept to the side
Car-parking model weakens in audio warning decibel automatic sequence and meets lower than default starting standard, and vehicle sensors detect automatically
There is clear in the Chinese herbaceous peony and rear certain distance of one side direction of steering wheel, being incorporated to original two dimensional code if resetted without if
Continue the unfinished section of traveling in the lane of path map.
Refer to for the emergency vehicle mode of giving way, vehicle can be the visual sensor detection by vehicle rear in this mode
To the double jump lamp visual information of front vehicle, then start urgent pulling over observing mode automatically.
Terrestrial path it is covered or disappear processing, allow suddenly lose ground two-dimensional code under the conditions of, do not hindered in front
Slow down under the conditions of hindering and continue traveling a period of time, if retrieval is believed less than road surface two dimensional code road sign after certain time or distance
Breath then executes lane change mode automatically, and (precondition of this mode is that have the data letter for leading to different lanes on the 2 D code map of path
Breath), pulling over observing is executed if it cannot execute lane change mode to keep to the side standby mode.
The parking standby mode that keeps to the side refers to: one or more vision for opening headstock or the vehicle body steering wheel other side passes
Sensor is held under conditions of in tailstock distance measuring sensor detects vehicle body steering wheel other side rear certain distance without vehicle
Row automatic emergency is acted to the lane of leaving of direction lane change, is parked in the former lane radial direction certain distance of deviation or in headstock
Or one or more visual sensor of the vehicle body steering wheel other side detects the certain distance parking of obstacle location information
It awaits orders.
Can include with automatically starting vehicle hazard warning light under conditions of pilotless automobile failure cannot work on
Communication apparatus can be started automatically and send location information and warning message.
It may include and be arranged in specific time period on the two dimensional code routing information of path map for defining pilotless automobile
Interior, to specified link limitation turn etc. limitation, modeling path thus also with regard to employing road surface two dimensional code limitation corresponding position certainly
Turn or lane change drive mode.
Meanwhile system executes deceleration either speed limit automatically and automatically opens low speed lamp when executing turn section；To nothing
The insured turns left curved, and opposite direction curved meeting of turning left will cause automatic driving vehicle this front side range sensor to barrier at this time
Alarm, to this can on the two dimensional code routing information of path map comprising set this detour section passage zone of turning left temporarily set
Fixed improper specific range is just alarmed and stops evacuation.
For the troubleshooting of signal lamp: the instant downloading of the network road conditions cartographic information of signal lamp problem information and brush
Signal is not newly detected in path map indicating positions with vehicle or detects non-not transforming to up to certain by signal
After the time is arranged, the emergency preplan after enabling signal lamp is bad is that the accessible low speed at no signal lamp crossing passes through mode.
Lane change overtakes other vehicles that can only to have other in the lane change direction side in this unmanned lane parallel equidirectional
It just can be to have other in parallel in one side direction of steering wheel wherein overtaking other vehicles and can be under conditions of two dimensional code ID of trace route path lane
Two dimensional code path lane under conditions of just can be with whether there is or not may be embodied in this lane with range information in the path in this parallel lane
Two dimensional code mark information on, that is to say, that the two-dimensional barcode information in this lane, which can define, to be included lane change or overtakes other vehicles or not
Allow lane change or the two-dimensional barcode information that does not allow to overtake other vehicles, also may include define other related adjacent lanes of lane whether there is or not with away from
From information；Adjacent lane information is detected when overtaking other vehicles or lane change comprising that can be detected with apart from millimetre-wave radar also includes
It can be detected with infrared vision sensor.Two dimensional code essential information in doubling or entrance express highway pavement: speed limit
Information, related lane vehicle observed azimuth range information, in two kinds of situation: before doubling, observe this azimuth pitch angle away from
From target position lane on distance range in without vehicle on highway or by the flow speeds of vehicle be more than certain
Setting speed, then automatic driving vehicle enters highway lane with doubling while this speed dynamic detection, and is meeting height
Control system determines real-time speed in the range of the two dimensional code velocity information of fast highway driving path road surface；Another situation is that simultaneously
Before line, the distance range observed on the target position lane of this azimuth pitch angle distance is interior either with or without vehicle on highway or logical
The flow speeds for crossing vehicle are more than certain setting speed, and having vehicle, then automatic driving vehicle executes similar lane change mode, that is, are stopped
After waiting and road through vehicles pass through, according to the specified automatic driving vehicle azimuth pitching of instant path road surface two-dimensional barcode information
Safe distance on the target position lane of angular distance does not have execution doubling when vehicle to enter highway lane.
The path two dimensional code of several distances before the parking position before the crossing or zebra crossing for needing to stop
One or more segmentation speed limit or two-dimensional barcode information are set on figure, reserved under this position in previous two dimensional code speed limit condition
Under segmentation braking distance, i.e., with sufficient braking distance guarantee the accurate parking position of automatic driving vehicle.
The unmanned technology that projected light grid can be used under certain condition, particularly as being existed by automatic driving vehicle
Under the velocity conditions of traveling, signal projector projects instead on the sectorial area in the front that ground automatic driving vehicle moves
Mark article pattern is penetrated, this mark article pattern can be the comb mesh pattern or other patterns of visible light or black light, pass through
Visual sensor on automatic driving vehicle reads the pattern, if realizing has pattern deformation to reach certain percentage
Than then slowing down or early warning avoiding or stops in emergency.Invisible electron path map may include GPS information；Tangible ground
Face two dimensional code icon also may include GPS information.
Component function detail:
1 automatic driving vehicle
2 terrestrial path two dimensional codes
3 vehicle-mounted two dimensional code cameras
4 lane trade lines
The public lane in 5 parking lots
The line of demarcation on 6 parking stalls
The disengaging lane on 7 single parking stalls
8 parking stalls
9 projected light grids
10 projected light grid visual sensors
Detailed description of the invention:
Fig. 1 is the automatic driving vehicle and electron path two dimensional code working principle diagram under standard tracking mode
Fig. 2 is automatic driving vehicle and electron path two dimensional code working effect figure
Fig. 3 is unmanned electron path two dimensional code schematic diagram
Fig. 4 is the unmanned working principle diagram that Grid Projection visual sensor assists landform identification under tracking mode
Fig. 5 is unmanned electron path two dimensional code network regional effect schematic diagram
Fig. 6 is for parking lot public way under tracking mode and the automatic driving vehicle electron path two dimensional code on each parking stall and respectively
A parking stall relationship working effect figure.
Claims (10)
1. a kind of unmanned device and method, substantially composition include: invisible electron path two-dimensional barcode information map datum,
The tangible chain type path ground icon being composed in series by multiple ground two-dimensional codes, vehicle-mounted distance measuring sensor module, vehicle electronics
Azimuth sensor module, onboard camera or code reader, two dimensional code read image algorithm analysis system, vehicular speeds sensing
The electron path map datum of device and control system storage and management；It is characterized by: automatic driving vehicle electron path map
For invisible steering map, it and tangible road surface two dimensional code icon form one-to-one mutual confirmation incidence relation, with this reality
The existing automatic driving vehicle ground two-dimensional code that tracks in tangible actual motion does tracking movement, in invisible electron path map
The middle working map for synchronizing the combination that tracks；This working map is according to starting point between terminal, by control system according to data
What the adjacent electron path of the multiple segmentations both deposited in library automatically generated work immediately the continuous of customized electron path map
Collection routes；It is read with the work in combination map of invisible multistage electron path map come guiding driverless vehicle multiple
Tangible ground two-dimensional code road sign realizes the automatic unmanned of the tracking movement of the multi-sectional ground two dimensional code road sign across path；
May include wherein tangible steering map is tracked to ground two dimensional code path automatic driving vehicle, other than the function that tracks also
There are the road segments number information, speed limiting information, parking and the enabling signal lamp that read on each ground two-dimensional code path to pass
Sensor information etc., control system is according to instruction from existing invisible electron path two-dimensional barcode information map datum or internet
The customized instant practical electron path map new with automatic Mosaic is transferred in upper downloading, with the electronics two of wherein each segmentation
Dimension code path is combined into electron path two dimensional code real-time working map；To realize it is conditional do not need GPS, directly use
Across the electron path self-defined combination map and ground dynamically living of invisible different segmenting electronic map paths it is dead
Reading confirmation and calling between static practical two dimensional code icon path, the unmanned mould of navigation so that realizing route tracks
Formula；Single path map is made of the multiple two dimensional code icons of the same section of same road segments number information under one's name, each
Icon all contains ground location information and automatic Pilot motor pattern conditional information and path number information, and multiple and different sections are compiled
Number path map composition local area network or wide area network automatic driving vehicle across the database of the big path map net in path；The number
It is relevant according to library and GPS map；Tangible automatic driving vehicle track steering map refer to by ground spray two dimensional code
The chain type path ground icon of message linkage permutation and combination forms tangible path, it can be printed on the centre of trade line,
Other than the guidance path that can be used directly to track, ground two-dimensional code information also includes for it: speed limit, ramp to stop buffering
Distance, limitation overtake other vehicles, deceleration, acceleration, the direction of motion, delay distance parking position and binding signal lamp image recognition sensor
Turning limitation and STOP signal enabling image recognition check in front of crossroad and the content informations such as left and right crossing vehicle pass-through,
It can be instant action information and be also possible to delay voltage information, can be relative to ground motion instruction direction vertically without drift angle
Information is also possible to indicate that vertically there is the information of specific drift angle numerical value in direction relative to ground motion, can be by code reader or view
Feel that sensor is read；Ground two-dimensional code routing information is exactly that unmanned control system compiles invisible electron path cartographic information
Collecting becomes two dimensional code, according to the printing of a fixed spacing on Actual path road surface, for automatic driving vehicle camera or barcode scanning
Device is read.
2. a kind of unmanned device and method according to the claims, it is characterised in that: unmanned defining
It can be set using manual type when the pilotless automobile path 2 D code map in the modeling section of automobile, road sign printer is certainly
It moves in the middle position of corresponding runway according to the spacing of default in each road sign two dimensional code of serial print;Road sign two dimensional code
Printer prints road sign two dimensional code in serial according to the spacing of default in the middle position in corresponding lane automatically one by one, can be with
Unidirectional or two-way speed limiting information comprising minimum speed and maximum speed, two dimensional code printing coating can be invisible coating,
Comprising can be the two dimensional code of direct spraying infrared ray invisible coating, either being sprayed on infrared ray as on the coating of base
Spraying absorbs or blocks the material for hindering infrared ray, is also possible on spraying coating of the stealthy infrared material as base
The material of infrared ray is sprayed, two-dimensional barcode information path is sprayed on the line of road surface trade by this method and tracks information, it is convenient because red
The reflection differences comparison of outside line coating is obvious, can be the camera with infrared filter function or infrared ray two dimensional code
Infrared ray path two dimensional code mark information can be accurately identified easily and holds for the reading of automatic driving vehicle control system for barcode scanning gun
Row tracking movement and other motion control information sources.
3. according to a kind of unmanned device and method described in above-mentioned any one claim, it is characterised in that:
To have signal lamp crossing processing: according to the electronic bearing angle marked on the path two dimensional code of crossing parking position and away from
From information, the visual sensor on automatic driving vehicle is according to certain electronic bearing angle and range data sampling analysis signal lamp
Image document instant messages, instruction automatic driving vehicle parking waiting still passes through；It is curved or big in turning right for bend at this time
Turning round has corresponding bend two dimensional code path and road surface actual icons to track for automatic driving vehicle transfers under control system
It uses；The crossing processing of single STOP mark and two opposite STOP mark crossings to the crossing of not signal lamp are handled and to ten
Word crossing four direction does not have the STOP mark crossing processing of signal lamp: according to the path two dimensional code subscript in crossing parking position
The electronic bearing angle of note and range information, the visual sensor or millimetre-wave radar on automatic driving vehicle are in addition to normal road
Road monitoring is outer, the vehicle identified to the STOP at the pilot steering institute notably crossing of the single or multiple not signal lamp of situation
The electronic bearing angle and image data or range data or moving object within the scope of distance parameter of traveling and parking position
Dwell time do implementing monitoring and comparison, calculate and need that the pilotless automobile that compares stops here waiting and starting passes through
Sequence in turn in precedence, it is similarly the same according to the implementation of the operating method of situation should be noted to pilot steering with this
Automatic manipulation；This visual sensor or millimetre-wave radar sensor are special special on automatic driving vehicle comprising can be
It is configured at the sensor of this specific use；The processing by weighing in advance to the crossing the STOP processing mark of not signal lamp: with
The down time for reaching certain location point starts, and is detected target in the specific electron azimuth and distance range under the conditions of this time
The presence or absence of and detected target it is mobile after certain waiting time start set out through this section later, comprising can be at this time
Between under the conditions of specific electron azimuth and do visual analysis, control system apart from wink signal of lower detected target when mobile
It is turn left straight trip or right-hand rotation according to the judgement of the relative position of automatic flash, when being waited with the automatic adjustment of this control system
Between.
4. according to a kind of unmanned device and method described in above-mentioned any one claim, it is characterised in that: parking lot
Automatic parking mode: the positional relationship on the public lane in parking lot and parking stall like be it is adjacent in a branch and thereon
If dried leaf, each parking stall is like being the adjacent leaf of the upper sequence of limb；It is arranged on the road surface in the public lane in parking lot
There is two dimensional code, at each from the public lane in parking lot to the utility car in the parking lot of the crossover location of each parking stall bifurcated
Electronic bearing angle and the parking stall length and width dimensions information that may include special parking stall on two dimensional code on the road surface in road, work as nothing
When people drives vehicle unlatching searching parking stall automatic parking mode, range choosing can be done to electronic two-dimensional code path map first
It takes, this range can be the multiple map paths for including in areal extent, or to certain one or more of electronics two
Tie up the zone routing selections on code path map；Under this unmanned mode, the electronic two-dimensional code of vehicle in a certain range
The public affairs in the parking lot of the crossover location to some parking stall bifurcated in the public lane in this each parking lot are driven on path
When on the two dimensional code on the road surface in lane, automatic driving vehicle vehicle-mounted road surface two dimensional code sensor reads this position ground two dimension
The information of two dimensional code, the two-dimensional barcode information may include under electronic bearing angle information or parking vehicle existence condition on code path
Range information, the vehicle-mounted visual sensor of automatic driving vehicle or range sensor are according to the parking stall electricity of the two dimensional code of reading
Azimuthal this electronic bearing angle of infomation detection of son is whether there is or not vehicles to exist, and if there is vehicle presence and its range data is in two dimension
In code distance range of information, then system determines that the parking stall is occupied, and then automatic driving vehicle continues along parking lot
The advance of two dimensional code path is provided on the road surface in public lane, until next parking stall crosspoint repeats above-mentioned parking stall detection
Process, until detecting effective vacant parking stall of not vehicle parking；The visual sensor of automatic driving vehicle is by the parking
The analysis in the line of demarcation of position is this vehicle rectangular dimension information of length and width rectangular image comparing control system storage, unmanned
Operating system controls square of the vehicle automatic running by vehicle parking in the line of demarcation for making this vehicle rectangle be placed exactly in the parking stall
All around symmetrical position among shape image；It is exactly to start unmanned mode when pick-up, vehicle is automatically from the parking
The disengaging lane on the single parking stall where position to its is run, and reaches the utility car that parking lot is read on the public lane in parking lot
Electron path two-dimensional barcode information on road, then using this information comparison as the starting point of unmanned traffic route；It is so-called to plug into
Rider get on the bus just refer to automatic driving vehicle from parking position by single parking stall disengaging lane and parking lot it is public
Lane and other adjacent one or more of two dimensional code paths reach pick-up people sets to unmanned operating system two
Tie up the process of some location point parking on code path.
5. according to a kind of unmanned device and method described in above-mentioned any one claim, it is characterised in that: remove road
Two dimensional code may include outside speed-limiting messages, and automatic driving vehicle can also configure vehicle humidity sensor, detect in air humidity
Under conditions of reaching certain value, or immediately the automatic driving vehicle network information by rainy weather system from trend in the rainy day in phase
The pilotless automobile in region is answered to transmit speed-limiting messages, pilotless automobile downloads the temporary information and does speed limit traveling；Nobody
Speed limit condition downward driving is driven, if the speed of setting is lower than certain setting speed value, control system can start automatically
Play bright low speed lamp;The two-dimensional barcode information of automatic driving vehicle can also according to condition of road surface condition setting delays time to control information,
It is characterized in that for the static delays time to control for setting lead on the two dimensional code routing information of intersection or corner
Information does instant pretreatment for unmanned control operating system, or is directed in the dynamic planning of operating path immediately, nobody
Driver behavior control system pre-processes the buffering in advance of lane change operation, to avoid unexpected lane change；Can not be simultaneously
Some point of operating path map executes lane change, but executes lane change in some section of path map, if the section
Because vehicle hinders lane change, while unmanned operating system control vehicle deceleration cannot still execute change more than minimum speed
Road, then unmanned operation control system abandons the lane change plan of this tract section, is transferred in system immediately or downloading data
The cartographic information in library, the group occlusal reconstruction path planning map new with execution.
6. according to a kind of unmanned device and method described in above-mentioned any one claim, it is characterised in that: be road
Current management service personnel are provided with the road sign pattern-information that tracks of priority, which includes that can be confession
The visual two dimensional code serial path information of infrared ray or non-infrared ray that vehicle-mounted two dimensional code camera is read, is also possible to non-
The information that the extraordinary pattern of two dimensional code supplies vehicle-mounted visual sensor to read；Because being special interim section control, it is possible to be
Automatically the tract section low-speed mode is executed, unmanned behaviour after thering is the road sign pattern-information that especially tracks of priority to disappear herein
Make system and start the transversal scanning that vehicle-mounted two dimensional code camera executes direction of vehicle movement automatically, collected two dimension will be shot with video-corder
The code original working map routing information of information comparison is compared, and executes the path map position after comparing successfully automatically in side
Thereafter pilotless automobile route planning upwards；The mode also includes that can be to have preferentially on original two dimensional code section with this
The road sign pattern-information covering that tracks of power, to activate pilotless automobile to enter this special contingency mode；In this mode nobody
Driving vehicle can be track road sign pattern-information or other effective guidance informations that priority is detected by visual sensor, in
It is that pilotless automobile keeps the distance of system setting to follow the movement of this signal and moves according to low speed, or tracks this preferentially
The road sign pattern-information that tracks of power does tracking movement, starts vehicle-mounted two dimensional code camera automatically after the blackout and executes vehicle
The transversal scanning of the direction of motion will shoot with video-corder collected two-dimensional barcode information and compare original map path information and match,
Automatically the pilotless automobile route planning of the map location on direction thereafter is executed after successful matching.
7. according to a kind of unmanned device and method described in above-mentioned any one claim, it is characterised in that: losing
It is preset that the necessary flag information of area navigation or sound transducer receive the alarm of fire alarm ambulance or police car alarm etc.
Sample sound successful match of stopping in emergency and volume decibels are more than when presetting starting standard, to start urgent pulling over observing mode,
Weaken in audio warning decibel automatic sequence and meets lower than default starting standard, vehicle sensors automatic detection direction disk side
There is clear in the Chinese herbaceous peony and rear certain distance in direction, being incorporated to original two dimensional code path map if resetted without if
Continue the unfinished section of traveling in lane；Refer to that vehicle can be by vehicle in this mode for the emergency vehicle mode of giving way
The visual sensor at rear detects the double jump lamp visual information of front vehicle, then starts urgent pulling over observing mode automatically；
Terrestrial path it is covered or disappear processing, allow suddenly lose ground two-dimensional code under the conditions of, do not hinder item in front
Slow down under part and continue traveling a period of time, after certain time or distance if retrieval is less than road surface two dimensional code mark information
It is automatic to execute lane change mode (precondition of this mode is that have the data information for leading to different lanes on the 2 D code map of path),
Pulling over observing is executed if it cannot execute lane change mode to keep to the side standby mode；The parking standby mode that keeps to the side refers to: opening headstock
Or one or more visual sensor of the vehicle body steering wheel other side, vehicle body steering wheel is detected in tailstock distance measuring sensor
In the certain distance of other side rear without vehicle under conditions of, execute automatic emergency to direction lane change leave lane act,
One or more vision parked deviateing former lane radial direction certain distance or in headstock or the vehicle body steering wheel other side
Sensor detects that the certain distance parking of obstacle location information is awaited orders；In the item that pilotless automobile failure cannot work on
Under part location information and alarm signal can be sent comprising communication apparatus can be started automatically with automatically starting vehicle hazard warning light
Breath.
8. according to a kind of unmanned device and method described in above-mentioned any one claim, it is characterised in that: fixed
It may include and be arranged in specific time period on the two dimensional code routing information of the path map of adopted pilotless automobile, to specified link
Thus the limitation of limitation turn etc., modeling path also limit turn or the lane change row of corresponding position with regard to employing road surface two dimensional code certainly
Vehicle mode；Meanwhile system executes deceleration either speed limit automatically and automatically opens low speed lamp when executing turn section；To no guarantor
Family is turned left curved, and opposite direction curved meeting of turning left will cause automatic driving vehicle this front side range sensor to barrier at this time
Alarm can temporarily set this on the two dimensional code routing information of path map comprising setting this detour section passage zone of turning left
Improper specific range is just alarmed and stops evacuation；For the troubleshooting of signal lamp: the network road of signal lamp problem information
The instant downloading and refreshing of condition cartographic information and vehicle do not detect signal in path map indicating positions or detect non-
By not transforming to up to after certain setting time for signal, the emergency preplan after enabling signal lamp is bad is i.e. at no signal lamp crossing
Accessible low speed passes through mode.
9. according to it is above-mentioned any one claim described in a kind of unmanned device and method, it is characterised in that: lane change or
Person, which overtakes other vehicles, to have other parallel equidirectional two dimensional code ID of trace route path in the lane change direction side in this unmanned lane
It just can be to have other parallel two dimensional code path vehicles in one side direction of steering wheel wherein overtaking other vehicles and can be under conditions of lane
It just can be with whether there is or not the two dimensional code road sign letters that may be embodied in this lane with range information in the path in this parallel lane under conditions of road
On breath, that is to say, that the two-dimensional barcode information in this lane, which can define, to be included lane change or overtake other vehicles or do not allow lane change or not
The two-dimensional barcode information for allowing to overtake other vehicles, also may include other related adjacent lanes of definition lane, whether there is or not the information with distance；Super
Adjacent lane information is detected when vehicle or lane change, comprising that can be detected with apart from millimetre-wave radar, also comprising infrared ray can be used
Visual sensor detection；Two dimensional code essential information in doubling or entrance express highway pavement: speed-limiting messages, related lane
Vehicle observed azimuth range information, in two kinds of situation: before doubling, observing the target position lane of this azimuth pitch angle distance
On distance range in without vehicle on highway or by the flow speeds of vehicle be more than certain setting speed, then nobody
It drives vehicle and highway lane is entered with doubling while this speed dynamic detection, and meeting turnpike driving path road
Control system determines real-time speed in the range of the two dimensional code velocity information of face；Another situation is that observing this orientation before doubling
Either with or without vehicle on highway or pass through the wagon flow speed of vehicle in distance range on the target position lane of angle pitch angle distance
Degree is more than certain setting speed, and having vehicle, then automatic driving vehicle executes similar lane change mode, i.e. parking waiting and road straight traffic
After passing through, according to the target position for the automatic driving vehicle azimuth pitch angle distance that instant path road surface two-dimensional barcode information is specified
Safe distance on lane does not have execution doubling when vehicle to enter highway lane.
10. according to a kind of unmanned device and method described in above-mentioned any one claim, it is characterised in that: needing
On the path 2 D code map of several distances before the crossing of parking or the parking position before zebra crossing be arranged one or
The multiple segmentation speed limits of person or two-dimensional barcode information, reserve under this position under the conditions of previous two dimensional code speed limit segmentation braking away from
From that is, with the sufficient braking distance guarantee accurate parking position of automatic driving vehicle；It is unmanned under certain condition can be with
Using the technology of projected light grid, particularly as being by automatic driving vehicle under the velocity conditions of traveling, signal projector exists
Reflective marker article pattern is projected on the sectorial area in the front of ground automatic driving vehicle movement, this mark article pattern can be
The comb mesh pattern or other patterns of visible light or black light are read by the visual sensor on automatic driving vehicle
The pattern slows down if realizing has pattern deformation to reach certain percentage or early warning avoids or stops in emergency；
Invisible electron path map may include GPS information；Tangible ground two-dimensional code icon also may include GPS information；
This automatic driving vehicle is suitable for common transport carrying, and perhaps cargo transport vehicle is also applied for extraordinary such as sweep the floor and vehicle or send
Goods logistics vehicles or indoor transporting vehicle or food delivery vehicle etc..
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110989618A (en) * | 2019-12-23 | 2020-04-10 | 福建工程学院 | Cooperative carrying control system and method for swarm type carrying vehicle |
| CN111693834A (en) * | 2020-06-18 | 2020-09-22 | 国网福建省电力有限公司福州供电公司 | Lightweight carrying type partial discharge detection device and detection method |
| CN112947397A (en) * | 2019-12-09 | 2021-06-11 | 山西星采科技有限公司 | Automatic driving method of shuttle car and shuttle car |
| CN112991772A (en) * | 2021-02-26 | 2021-06-18 | 西北工业大学 | Unmanned vehicle scheduling method and system |
| CN113815643A (en) * | 2021-09-06 | 2021-12-21 | 达魔重卡电动汽车制造(杭州)有限公司 | Automatic vehicle running system for realizing high-precision processing for unmanned vehicle |
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
| CN115035738A (en) * | 2022-06-06 | 2022-09-09 | 中国二十冶集团有限公司 | Intelligent road traffic system for automatic driving of vehicles |
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2019
- 2019-09-04 CN CN201910833745.9A patent/CN110450775A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947397A (en) * | 2019-12-09 | 2021-06-11 | 山西星采科技有限公司 | Automatic driving method of shuttle car and shuttle car |
| CN112947397B (en) * | 2019-12-09 | 2023-01-31 | 山西星采科技有限公司 | Automatic driving method of shuttle car and shuttle car |
| CN110989618A (en) * | 2019-12-23 | 2020-04-10 | 福建工程学院 | Cooperative carrying control system and method for swarm type carrying vehicle |
| CN111693834A (en) * | 2020-06-18 | 2020-09-22 | 国网福建省电力有限公司福州供电公司 | Lightweight carrying type partial discharge detection device and detection method |
| CN112991772A (en) * | 2021-02-26 | 2021-06-18 | 西北工业大学 | Unmanned vehicle scheduling method and system |
| CN113815643A (en) * | 2021-09-06 | 2021-12-21 | 达魔重卡电动汽车制造(杭州)有限公司 | Automatic vehicle running system for realizing high-precision processing for unmanned vehicle |
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
| CN115035738A (en) * | 2022-06-06 | 2022-09-09 | 中国二十冶集团有限公司 | Intelligent road traffic system for automatic driving of vehicles |
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